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Wireless Sensor Network is structure of spatially distributed autonomous sensors that are widely used in the field of Civil and Military applications. Scheduling in MAC Layer is a challenging task and a critical issue in the design of Wireless Sensor Network (WSN). For Collision free transmission Self-organized transmission scheduling becomes very important. Bio-systems have been an inspiration for...
This paper proposes a robust dynamic surface control (DSC) tracking method for wheeled mobile robots (WMRs) with skidding and slipping. First, a simple WMRs model is derived. This model has the simple structure to handle not only kinematics but also dynamics. Then, a tracking controller is proposed by using the DSC method. The proposed method eliminates the complexity problem in the traditional backstepping...
EDGAR is an acronym for "Expression Display & Gesturing Avatar Robot". It is an anthropomorphic telepresence humanoid, which is designed and implemented to allow for social expression. EDGAR is a robotic avatar that was developed by Nanyang Technological University for telepresence applications. It has a total of 28 degrees of freedom and it is able to mimic the remote user's head, torso,...
The Shewhart X control chart is a useful process monitoring tool in manufacturing industries to detect the presence of assignable causes. However, it is insensitive in detecting small process shifts. To circumvent this problem, adaptive control charts are suggested. An adaptive chart enables at least one of the chart's parameters to be adjusted to increase the chart's sensitivity. Two common adaptive...
This paper introduces novel mobile sensor networking architecture for a swarm of micro unmanned vehicles (MAVs) using software defined network (SDN) technology. The proposed architecture aims to enhance the performance of user/control plane data transmission between MAVs. SDN technique for mobile network is adopted to release the computation burden of MAV nodes and improve the wireless channel resource...
In this paper, synchronization of Rikitake chaotic systems and its application in secure communication are presented. Sliding mode control is using scheme to solve the synchronization problem of Rikitake chaotic systems. The proposed scheme guarantees the synchronization between the master and slave Rikitake chaotic systems based on the use of Lyapunov stability theory. Moreover, the selection of...
This paper investigates a new dynamic output feedback control design approach for variable structure systems associated with a new sliding mode. It is based on the concept of output feedback sliding mode design, introduced by Shyu et al. [10], for a class of mismatched uncertain systems in which the uncertainty in the state matrix does not enjoy the matching condition. In this paper, we extend this...
This paper proposes the Sliding Mode Control (SMC) approach in order to control the nonlinear system. A nonlinear model of a five degree of freedom (DOF) flywheel energy storage system (FESS) obtained using Lagrange's equation is introduced. The SMC approach is proposed not only to out-perform the proportional integral differential (PID) control but also to show some advantages. Firstly, a robust...
This paper proposes an O(nlog n) time algorithm capable of finding near-shortest path on polygonal surfaces. Shortest-path planning in 3-dimensional space is an NP-hard problem. Theoretically, if the number of Steiner points in Kanai and Suzuki's algorithm is allowed to approach infinity, the path obtained will be optimal. In practice, the results generated by the KS's algorithm with 29 Steiner points...
Transformer is one of the very important components of Electrical power system. Transformers are invariably protected by using differential protection. But the differential protection sometime may malfunction due to inrush current whenever a transformer is energized. Several methods like per-phase method, cross blocking method, Percent average blocking method and Harmonic sharing method are already...
This paper presents the challenges currently being encountered for the accelerated application of robotic prosthetics in clinical applications. The main goal is to evaluate technological challenges and methods that have been utilized to foster development of the intelligent artificial robotic prosthetics. Success that have been achieved during in vitro researches were evaluated based on clinical application...
Underwater terrain-matching aided navigation is one of the key technologies for navigational positioning of underwater vehicle. Compared to the underwater terrain-matching algorithm based on single-beam sounding system, the two-dimensional array single template matching algorithm based on multi-beam sounding system is characteristic of more information contents of terrain matching, higher matching...
The LEACH and SEP routing protocols centered on wireless sensor networks are highlighted in this paper. The number of sensor nodes in WSN is ample and a single node is astonishingly limited in resource. The principal objective of the routing protocol design is to advance the energy efficiency and prolong the network lifetime. This paper has selected the LEACH routing protocol as our research focus...
Analysis of conventional wing dynamics exhibits limits imposed by physical laws which cannot be fully compensated by wing profile optimization nor by artificial flow lines modification. A different alternative is proposed by modifying drastically wing shape into a tubular one. It is shown here that such wings take advantage of their geometry allowing an enhanced new lifting effect produced by the...
This paper proposed sparse-sensing-based wall-following control design for a mobile-robot. In wall-following, a mobile-robot uses only five infrared sensors which are called sparse-sensing. The advantage of sparse-sensing is low cost. This mobile-robot momentarily stops and responds to the timer-interrupt of sparse sensing in order to collect the information of obstacles. Few studies discuss the sparse-sensing...
With the development of industrial automation, the application of intelligent robots has been widespread increasingly, but it is difficult to accurately describe robotic workspace. Currently workspace analysis methods include analytic method, graphic and numerical methods, but these common methods have many shortages. This paper presents a method of robotic workspace solution, which combines the theory...
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